摘要：The paper deals with elastostatic calibration of quasi-serial heavy robots with kinematic parallelograms and gravity compensators. Particular attention is paid to the selection of optimal measurement configurations allowing to reduce the measurement noise impact on the identification accuracy. For these types of manipulators, the identification equations are highly non-linear with respect to the parameters to be calibrated. For this specific architecture, a two-steps identification procedure is developed and a new technique of the calibration experiment design is proposed, which allows improving the identification accuracy without increasing the number of measurements. The developed technique is illustrated by an application example that deals with a typical heavy quasi-serial industrial robot.
关键词：industrial robotstiffness modelingcalibrationgravity compensatordesign of experiments
